OpenRaiser/Intern-Atlas huggingface dataset:
PlaNet-ClothPick: Effective Fabric Flattening Based on Latent Dynamic Planning
Venue: arXiv cs.RO 2023
Year: 2023

Why do Recurrent State Space Models such as PlaNet fail at cloth manipulation tasks? Recent work has attributed this to the blurry prediction of the observation, which makes it difficult to plan directly in the latent space. This paper explores the reasons behind this by applying PlaNet in the pick-and-place fabric-flattening domain. We find that the sharp discontinuity of the transition function on the contour of the fabric makes it difficult to learn an accurate latent dynamic model, causing the MPC planner to produce pick actions slightly outside of the article. By limiting picking space on the cloth mask and training on specially engineered trajectories, our mesh-free PlaNet-ClothPick surpasses visual planning and policy learning methods on principal metrics in simulation, achieving similar performance as state-of-the-art mesh-based planning approaches. Notably, our model exhibits a faster action inference and requires fewer transitional model parameters than the state-of-the-art robotic systems in this domain. Other supplementary materials are available at: https://sites.google.com/view/planet-clothpick.
Co-learning Planning and Control Policies Constrained by Differentiable Logic Specifications
Venue: arXiv cs.RO 2023
Year: 2023

Synthesizing planning and control policies in robotics is a fundamental task, further complicated by factors such as complex logic specifications and high-dimensional robot dynamics. This paper presents a novel reinforcement learning approach to solving high-dimensional robot navigation tasks with complex logic specifications by co-learning planning and control policies. Notably, this approach significantly reduces the sample complexity in training, allowing us to train high-quality policies with much fewer samples compared to existing reinforcement learning algorithms. In addition, our methodology streamlines complex specification extraction from map images and enables the efficient generation of long-horizon robot motion paths across different map layouts. Moreover, our approach also demonstrates capabilities for high-dimensional control and avoiding suboptimal policies via policy alignment. The efficacy of our approach is demonstrated through experiments involving simulated high-dimensional quadruped robot dynamics and a real-world differential drive robot (TurtleBot3) under different types of task specifications.
Chasing Millimeters: Design, Navigation and State Estimation for Precise In-flight Marking on Ceilings
Venue: arXiv cs.RO 2023
Year: 2023

Precise markings for drilling and assembly are crucial, laborious construction tasks. Aerial robots with suitable end-effectors are capable of markings at the millimeter scale. However, so far, they have only been demonstrated under laboratory conditions where rigid state estimation and navigation assumptions do not impede robustness and accuracy. This paper presents a complete aerial layouting system capable of precise markings on-site under realistic conditions. We use a compliant actuated end-effector on an omnidirectional flying base. Combining a two-stage factor-graph state estimator with a Riemannian Motion Policy-based navigation stack, we avoid the need for a globally consistent estimate and increase robustness. The policy-based navigation is structured into individual behaviors in different state spaces. Through a comprehensive study, we show that the system creates highly precise markings at a relative precision of 1.5 mm and a global accuracy of 5-6 mm and discuss the results in the context of future construction robotics.
The Ladder in Chaos: A Simple and Effective Improvement to General DRL Algorithms by Policy Path Trimming and Boosting
Venue: arXiv cs.LG 2023
Year: 2023

Knowing the learning dynamics of policy is significant to unveiling the mysteries of Reinforcement Learning (RL). It is especially crucial yet challenging to Deep RL, from which the remedies to notorious issues like sample inefficiency and learning instability could be obtained. In this paper, we study how the policy networks of typical DRL agents evolve during the learning process by empirically investigating several kinds of temporal change for each policy parameter. On typical MuJoCo and DeepMind Control Suite (DMC) benchmarks, we find common phenomena for TD3 and RAD agents: 1) the activity of policy network parameters is highly asymmetric and policy networks advance monotonically along very few major parameter directions; 2) severe detours occur in parameter update and harmonic-like changes are observed for all minor parameter directions. By performing a novel temporal SVD along policy learning path, the major and minor parameter directions are identified as the columns of right unitary matrix associated with dominant and insignificant singular values respectively. Driven by the discoveries above, we propose a simple and effective method, called Policy Path Trimming and Boosting (PPTB), as a general plug-in improvement to DRL algorithms. The key idea of PPTB is to periodically trim the policy learning path by canceling the policy updates in minor parameter directions, while boost the learning path by encouraging the advance in major directions. In experiments, we demonstrate the general and significant performance improvements brought by PPTB, when combined with TD3 and RAD in MuJoCo and DMC environments respectively.
NLP Workbench: Efficient and Extensible Integration of State-of-the-art Text Mining Tools
Venue: arXiv cs.CL 2023
Year: 2023

NLP Workbench is a web-based platform for text mining that allows non-expert users to obtain semantic understanding of large-scale corpora using state-of-the-art text mining models. The platform is built upon latest pre-trained models and open source systems from academia that provide semantic analysis functionalities, including but not limited to entity linking, sentiment analysis, semantic parsing, and relation extraction. Its extensible design enables researchers and developers to smoothly replace an existing model or integrate a new one. To improve efficiency, we employ a microservice architecture that facilitates allocation of acceleration hardware and parallelization of computation. This paper presents the architecture of NLP Workbench and discusses the challenges we faced in designing it. We also discuss diverse use cases of NLP Workbench and the benefits of using it over other approaches. The platform is under active development, with its source code released under the MIT license. A website and a short video demonstrating our platform are also available.
ArtPlanner: Robust Legged Robot Navigation in the Field
Venue: arXiv cs.RO 2023
Year: 2023

Due to the highly complex environment present during the DARPA Subterranean Challenge, all six funded teams relied on legged robots as part of their robotic team. Their unique locomotion skills of being able to step over obstacles require special considerations for navigation planning. In this work, we present and examine ArtPlanner, the navigation planner used by team CERBERUS during the Finals. It is based on a sampling-based method that determines valid poses with a reachability abstraction and uses learned foothold scores to restrict areas considered safe for stepping. The resulting planning graph is assigned learned motion costs by a neural network trained in simulation to minimize traversal time and limit the risk of failure. Our method achieves real-time performance with a bounded computation time. We present extensive experimental results gathered during the Finals event of the DARPA Subterranean Challenge, where this method contributed to team CERBERUS winning the competition. It powered navigation of four ANYmal quadrupeds for 90 minutes of autonomous operation without a single planning or locomotion failure.
Learning Contact-based Navigation in Crowds
Venue: arXiv cs.RO 2023
Year: 2023

Navigation strategies that intentionally incorporate contact with humans (i.e. "contact-based" social navigation) in crowded environments are largely unexplored even though collision-free social navigation is a well studied problem. Traditional social navigation frameworks require the robot to stop suddenly or "freeze" whenever a collision is imminent. This paradigm poses two problems: 1) freezing while navigating a crowd may cause people to trip and fall over the robot, resulting in more harm than the collision itself, and 2) in very dense social environments where collisions are unavoidable, such a control scheme would render the robot unable to move and preclude the opportunity to study how humans incorporate robots into these environments. However, if robots are to be meaningfully included in crowded social spaces, such as busy streets, subways, stores, or other densely populated locales, there may not exist trajectories that can guarantee zero collisions. Thus, adoption of robots in these environments requires the development of minimally disruptive navigation plans that can safely plan for and respond to contacts. We propose a learning-based motion planner and control scheme to navigate dense social environments using safe contacts for an omnidirectional mobile robot. The planner is evaluated in simulation over 360 trials with crowd densities varying between 0.0 and 1.6 people per square meter. Our navigation scheme is able to use contact to safely navigate in crowds of higher density than has been previously reported, to our knowledge.
Consistency Models
Venue: arXiv cs.LG 2023
Year: 2023

Diffusion models have significantly advanced the fields of image, audio, and video generation, but they depend on an iterative sampling process that causes slow generation. To overcome this limitation, we propose consistency models, a new family of models that generate high quality samples by directly mapping noise to data. They support fast one-step generation by design, while still allowing multistep sampling to trade compute for sample quality. They also support zero-shot data editing, such as image inpainting, colorization, and super-resolution, without requiring explicit training on these tasks. Consistency models can be trained either by distilling pre-trained diffusion models, or as standalone generative models altogether. Through extensive experiments, we demonstrate that they outperform existing distillation techniques for diffusion models in one- and few-step sampling, achieving the new state-of-the-art FID of 3.55 on CIFAR-10 and 6.20 on ImageNet 64x64 for one-step generation. When trained in isolation, consistency models become a new family of generative models that can outperform existing one-step, non-adversarial generative models on standard benchmarks such as CIFAR-10, ImageNet 64x64 and LSUN 256x256.
Self-Improving Robots: End-to-End Autonomous Visuomotor Reinforcement Learning
Venue: arXiv cs.RO 2023
Year: 2023

In imitation and reinforcement learning, the cost of human supervision limits the amount of data that robots can be trained on. An aspirational goal is to construct self-improving robots: robots that can learn and improve on their own, from autonomous interaction with minimal human supervision or oversight. Such robots could collect and train on much larger datasets, and thus learn more robust and performant policies. While reinforcement learning offers a framework for such autonomous learning via trial-and-error, practical realizations end up requiring extensive human supervision for reward function design and repeated resetting of the environment between episodes of interactions. In this work, we propose MEDAL++, a novel design for self-improving robotic systems: given a small set of expert demonstrations at the start, the robot autonomously practices the task by learning to both do and undo the task, simultaneously inferring the reward function from the demonstrations. The policy and reward function are learned end-to-end from high-dimensional visual inputs, bypassing the need for explicit state estimation or task-specific pre-training for visual encoders used in prior work. We first evaluate our proposed algorithm on a simulated non-episodic benchmark EARL, finding that MEDAL++ is both more data efficient and gets up to 30% better final performance compared to state-of-the-art vision-based methods. Our real-robot experiments show that MEDAL++ can be applied to manipulation problems in larger environments than those considered in prior work, and autonomous self-improvement can improve the success rate by 30-70% over behavior cloning on just the expert data. Code, training and evaluation videos along with a brief overview is available at: https://architsharma97.github.io/self-improving-robots/
Language Variety Identification with True Labels
Venue: arXiv cs.CL 2023
Year: 2023

Language identification is an important first step in many IR and NLP applications. Most publicly available language identification datasets, however, are compiled under the assumption that the gold label of each instance is determined by where texts are retrieved from. Research has shown that this is a problematic assumption, particularly in the case of very similar languages (e.g., Croatian and Serbian) and national language varieties (e.g., Brazilian and European Portuguese), where texts may contain no distinctive marker of the particular language or variety. To overcome this important limitation, this paper presents DSL True Labels (DSL-TL), the first human-annotated multilingual dataset for language variety identification. DSL-TL contains a total of 12,900 instances in Portuguese, split between European Portuguese and Brazilian Portuguese; Spanish, split between Argentine Spanish and Castilian Spanish; and English, split between American English and British English. We trained multiple models to discriminate between these language varieties, and we present the results in detail. The data and models presented in this paper provide a reliable benchmark toward the development of robust and fairer language variety identification systems. We make DSL-TL freely available to the research community.
ABAW: Valence-Arousal Estimation, Expression Recognition, Action Unit Detection & Emotional Reaction Intensity Estimation Challenges
Venue: arXiv cs.CV 2023
Year: 2023

The fifth Affective Behavior Analysis in-the-wild (ABAW) Competition is part of the respective ABAW Workshop which will be held in conjunction with IEEE Computer Vision and Pattern Recognition Conference (CVPR), 2023. The 5th ABAW Competition is a continuation of the Competitions held at ECCV 2022, IEEE CVPR 2022, ICCV 2021, IEEE FG 2020 and CVPR 2017 Conferences, and is dedicated at automatically analyzing affect. For this year's Competition, we feature two corpora: i) an extended version of the Aff-Wild2 database and ii) the Hume-Reaction dataset. The former database is an audiovisual one of around 600 videos of around 3M frames and is annotated with respect to:a) two continuous affect dimensions -valence (how positive/negative a person is) and arousal (how active/passive a person is)-; b) basic expressions (e.g. happiness, sadness, neutral state); and c) atomic facial muscle actions (i.e., action units). The latter dataset is an audiovisual one in which reactions of individuals to emotional stimuli have been annotated with respect to seven emotional expression intensities. Thus the 5th ABAW Competition encompasses four Challenges: i) uni-task Valence-Arousal Estimation, ii) uni-task Expression Classification, iii) uni-task Action Unit Detection, and iv) Emotional Reaction Intensity Estimation. In this paper, we present these Challenges, along with their corpora, we outline the evaluation metrics, we present the baseline systems and illustrate their obtained performance.
Counterfactual Edits for Generative Evaluation
Venue: arXiv cs.CV 2023
Year: 2023

Evaluation of generative models has been an underrepresented field despite the surge of generative architectures. Most recent models are evaluated upon rather obsolete metrics which suffer from robustness issues, while being unable to assess more aspects of visual quality, such as compositionality and logic of synthesis. At the same time, the explainability of generative models remains a limited, though important, research direction with several current attempts requiring access to the inner functionalities of generative models. Contrary to prior literature, we view generative models as a black box, and we propose a framework for the evaluation and explanation of synthesized results based on concepts instead of pixels. Our framework exploits knowledge-based counterfactual edits that underline which objects or attributes should be inserted, removed, or replaced from generated images to approach their ground truth conditioning. Moreover, global explanations produced by accumulating local edits can also reveal what concepts a model cannot generate in total. The application of our framework on various models designed for the challenging tasks of Story Visualization and Scene Synthesis verifies the power of our approach in the model-agnostic setting.
Improving GAN Training via Feature Space Shrinkage
Venue: arXiv cs.CV 2023
Year: 2023

Due to the outstanding capability for data generation, Generative Adversarial Networks (GANs) have attracted considerable attention in unsupervised learning. However, training GANs is difficult, since the training distribution is dynamic for the discriminator, leading to unstable image representation. In this paper, we address the problem of training GANs from a novel perspective, \emph{i.e.,} robust image classification. Motivated by studies on robust image representation, we propose a simple yet effective module, namely AdaptiveMix, for GANs, which shrinks the regions of training data in the image representation space of the discriminator. Considering it is intractable to directly bound feature space, we propose to construct hard samples and narrow down the feature distance between hard and easy samples. The hard samples are constructed by mixing a pair of training images. We evaluate the effectiveness of our AdaptiveMix with widely-used and state-of-the-art GAN architectures. The evaluation results demonstrate that our AdaptiveMix can facilitate the training of GANs and effectively improve the image quality of generated samples. We also show that our AdaptiveMix can be further applied to image classification and Out-Of-Distribution (OOD) detection tasks, by equipping it with state-of-the-art methods. Extensive experiments on seven publicly available datasets show that our method effectively boosts the performance of baselines. The code is publicly available at https://github.com/WentianZhang-ML/AdaptiveMix.
Mixture of Soft Prompts for Controllable Data Generation
Venue: arXiv cs.CL 2023
Year: 2023

Large language models (LLMs) effectively generate fluent text when the target output follows natural language patterns. However, structured prediction tasks confine the output format to a limited ontology, causing even very large models to struggle since they were never trained with such restrictions in mind. The difficulty of using LLMs for direct prediction is exacerbated in few-shot learning scenarios, which commonly arise due to domain shift and resource limitations. We flip the problem on its head by leveraging the LLM as a tool for data augmentation rather than direct prediction. Our proposed Mixture of Soft Prompts (MSP) serves as a parameter-efficient procedure for generating data in a controlled manner. Denoising mechanisms are further applied to improve the quality of synthesized data. Automatic metrics show our method is capable of producing diverse and natural text, while preserving label semantics. Moreover, MSP achieves state-of-the-art results on three benchmarks when compared against strong baselines. Our method offers an alternate data-centric approach for applying LLMs to complex prediction tasks.
ConTEXTual Net: A Multimodal Vision-Language Model for Segmentation of Pneumothorax
Venue: arXiv cs.CV 2023
Year: 2023

Radiology narrative reports often describe characteristics of a patient's disease, including its location, size, and shape. Motivated by the recent success of multimodal learning, we hypothesized that this descriptive text could guide medical image analysis algorithms. We proposed a novel vision-language model, ConTEXTual Net, for the task of pneumothorax segmentation on chest radiographs. ConTEXTual Net utilizes language features extracted from corresponding free-form radiology reports using a pre-trained language model. Cross-attention modules are designed to combine the intermediate output of each vision encoder layer and the text embeddings generated by the language model. ConTEXTual Net was trained on the CANDID-PTX dataset consisting of 3,196 positive cases of pneumothorax with segmentation annotations from 6 different physicians as well as clinical radiology reports. Using cross-validation, ConTEXTual Net achieved a Dice score of 0.716$\pm$0.016, which was similar to the degree of inter-reader variability (0.712$\pm$0.044) computed on a subset of the data. It outperformed both vision-only models (ResNet50 U-Net: 0.677$\pm$0.015 and GLoRIA: 0.686$\pm$0.014) and a competing vision-language model (LAVT: 0.706$\pm$0.009). Ablation studies confirmed that it was the text information that led to the performance gains. Additionally, we show that certain augmentation methods degraded ConTEXTual Net's segmentation performance by breaking the image-text concordance. We also evaluated the effects of using different language models and activation functions in the cross-attention module, highlighting the efficacy of our chosen architectural design.
LooperGP: A Loopable Sequence Model for Live Coding Performance using GuitarPro Tablature
Venue: arXiv cs.SD 2023
Year: 2023

Despite their impressive offline results, deep learning models for symbolic music generation are not widely used in live performances due to a deficit of musically meaningful control parameters and a lack of structured musical form in their outputs. To address these issues we introduce LooperGP, a method for steering a Transformer-XL model towards generating loopable musical phrases of a specified number of bars and time signature, enabling a tool for live coding performances. We show that by training LooperGP on a dataset of 93,681 musical loops extracted from the DadaGP dataset, we are able to steer its generative output towards generating 3x as many loopable phrases as our baseline. In a subjective listening test conducted by 31 participants, LooperGP loops achieved positive median ratings in originality, musical coherence and loop smoothness, demonstrating its potential as a performance tool.
Near Optimal Memory-Regret Tradeoff for Online Learning
Venue: arXiv cs.DS 2023
Year: 2023

In the experts problem, on each of $T$ days, an agent needs to follow the advice of one of $n$ ``experts''. After each day, the loss associated with each expert's advice is revealed. A fundamental result in learning theory says that the agent can achieve vanishing regret, i.e. their cumulative loss is within $o(T)$ of the cumulative loss of the best-in-hindsight expert. Can the agent perform well without sufficient space to remember all the experts? We extend a nascent line of research on this question in two directions: $\bullet$ We give a new algorithm against the oblivious adversary, improving over the memory-regret tradeoff obtained by [PZ23], and nearly matching the lower bound of [SWXZ22]. $\bullet$ We also consider an adaptive adversary who can observe past experts chosen by the agent. In this setting we give both a new algorithm and a novel lower bound, proving that roughly $\sqrt{n}$ memory is both necessary and sufficient for obtaining $o(T)$ regret.